Rapid solution method and rapid solution system for high-degree-of-freedom robot inverse kinematics

Abstract

The invention provides a rapid solution method and a rapid solution system for high-degree-of-freedom robot inverse kinematics. The method includes the steps of 1, substituting a joint variable theta into a robot kinematics equation to obtain a Jacobian matrix J, and transposing the Jacobian matrix J to obtain a transposed Jacobian matrix JT; 2, generating a group of speculative values, calculating corresponding joint variable update values for the speculative values, substituting each joint variable update value into a robot forward kinematics equation to obtain corresponding poses Pk, calculating pose deviation delta ek between each pose Pk and a target pose P and calculating a modulus errork of the pose deviation delta ek; 3, selecting a minimum value errormin, corresponding pose deviation delta emin and joint variable update values delta theta min from a set of the modulus errork, updating the pose deviation delta e=delta emin and updating a joint variable theta=theta+delta theta min; 4, judging whether the errormin meets errormin<threshold or not, outputting the joint variable theta and finishing if the errormin meets errormin<threshold, otherwise, returning to the step 1 and continuing execution.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method and system for quickly solving inverse kinematics of a high-degree-of-freedom robot. Background technique [0002] Robot technology can not only be applied to industrial production, but also can serve the people's life. It is a promising technology. Robots are generally composed of many joints. By controlling the variables of each joint, the functions of pose change, such as moving, walking and grasping, are achieved. In robotics, each joint provides a degree of freedom. Generally speaking, the more degrees of freedom a robot has (the more joints), the more powerful the robot and the more flexible it can move. Robot kinematics is the basis of robot motion control, including forward kinematics and inverse kinematics. Forward kinematics, that is, given each joint variable θ, solve the pose P of the robot; inverse kinematics, that is, given the pose P of the robot,...

AI Technical Summary

Problems solved by technology

However, the biggest problem with this method is that the deviation between the approximate solution and the exact solution is large, which is much larger than the approximate solution obtained by the numerical method.

At the same time, the method requires a large amount of data for training

[0006] At present, the most commonly used inverse kinematics solution method is based on the Jacobian solution method, but for high-degree-of-freedom robots, the existing Jacobian-based method is very time-consuming and cannot meet the real-time requirements of robot control. , the present invention proposes a method for quickly solving the inverse kinematics problem of a high-degree-of-freedom robot that is suitable for execution in a parallel architecture

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